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<div class="title">crf_segmentation.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Author : Christian Potthast</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Email  : potthast@usc.edu</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_CRF_SEGMENTATION_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_CRF_SEGMENTATION_HPP_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/crf_segmentation.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;stdlib.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;time.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#aa3c9393ae5fe07c5e8e711417b7e4743">   53</a></span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html#aa3c9393ae5fe07c5e8e711417b7e4743">pcl::CrfSegmentation&lt;PointT&gt;::CrfSegmentation</a> () :</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  voxel_grid_ (),</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  input_cloud_ (new pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;),</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  normal_cloud_ (new pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;pcl::<a class="code" href="structpcl_1_1_point_normal.html">PointNormal</a>&gt;),</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  filtered_cloud_ (new pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;),</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  filtered_anno_ (new pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;pcl::<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_l.html">PointXYZRGBL</a>&gt;),</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  filtered_normal_ (new pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;pcl::<a class="code" href="structpcl_1_1_point_normal.html">PointNormal</a>&gt;),</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  voxel_grid_leaf_size_ (Eigen::Vector4f (0.001f, 0.001f, 0.001f, 0.0f))</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a2034500b09110432396c7eb30acaca7e">   66</a></span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html#a2034500b09110432396c7eb30acaca7e">pcl::CrfSegmentation&lt;PointT&gt;::~CrfSegmentation</a> ()</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#ae38ac15bbb1fd068f489ca2f1abbb546">   72</a></span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html#ae38ac15bbb1fd068f489ca2f1abbb546">pcl::CrfSegmentation&lt;PointT&gt;::setInputCloud</a> (<span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr input_cloud)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;{</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">if</span> (input_cloud_ != NULL)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    input_cloud_.reset ();</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  input_cloud_ = input_cloud;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;}</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html">pcl::CrfSegmentation&lt;PointT&gt;::setAnnotatedCloud</a> (<span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointXYZRGBL&gt;::Ptr anno_cloud)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;{</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">if</span> (anno_cloud_ != NULL)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    anno_cloud_.reset ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  anno_cloud_ = anno_cloud;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;}</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html">pcl::CrfSegmentation&lt;PointT&gt;::setNormalCloud</a> (<span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr normal_cloud)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;{</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">if</span> (normal_cloud_ != NULL)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    normal_cloud_.reset ();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  normal_cloud_ = normal_cloud;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a19fc8b979cd5bd7e8a80054329b63f56">  102</a></span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html#a19fc8b979cd5bd7e8a80054329b63f56">pcl::CrfSegmentation&lt;PointT&gt;::setVoxelGridLeafSize</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> x, <span class="keyword">const</span> <span class="keywordtype">float</span> y, <span class="keyword">const</span> <span class="keywordtype">float</span> z)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;{</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  voxel_grid_leaf_size_.x () = x;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  voxel_grid_leaf_size_.y () = y;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  voxel_grid_leaf_size_.z () = z;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a638a8fc586d7375d4ac519387e31a956">  111</a></span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html#a638a8fc586d7375d4ac519387e31a956">pcl::CrfSegmentation&lt;PointT&gt;::setSmoothnessKernelParameters</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> sx, <span class="keyword">const</span> <span class="keywordtype">float</span> sy, <span class="keyword">const</span> <span class="keywordtype">float</span> sz, </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                                                             <span class="keyword">const</span> <span class="keywordtype">float</span> w)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  smoothness_kernel_param_[0] = sx;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  smoothness_kernel_param_[1] = sy;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  smoothness_kernel_param_[2] = sz;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  smoothness_kernel_param_[3] = w;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;}</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a0a3f422c52af3f6ac473b02ddde8c433">  122</a></span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html#a0a3f422c52af3f6ac473b02ddde8c433">pcl::CrfSegmentation&lt;PointT&gt;::setAppearanceKernelParameters</a> (<span class="keywordtype">float</span> sx, <span class="keywordtype">float</span> sy, <span class="keywordtype">float</span> sz, </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                                                             <span class="keywordtype">float</span> sr, <span class="keywordtype">float</span> sg, <span class="keywordtype">float</span> sb,</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                                                             <span class="keywordtype">float</span> w)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;{</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  appearance_kernel_param_[0] = sx;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  appearance_kernel_param_[1] = sy;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  appearance_kernel_param_[2] = sz;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  appearance_kernel_param_[3] = sr;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  appearance_kernel_param_[4] = sg;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  appearance_kernel_param_[5] = sb;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  appearance_kernel_param_[6] = w;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;}</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html">pcl::CrfSegmentation&lt;PointT&gt;::setSurfaceKernelParameters</a> (<span class="keywordtype">float</span> sx, <span class="keywordtype">float</span> sy, <span class="keywordtype">float</span> sz, </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                                                          <span class="keywordtype">float</span> snx, <span class="keywordtype">float</span> sny, <span class="keywordtype">float</span> snz,</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                                                          <span class="keywordtype">float</span> w)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;{</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  surface_kernel_param_[0] = sx;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  surface_kernel_param_[1] = sy;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  surface_kernel_param_[2] = sz;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  surface_kernel_param_[3] = snx;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  surface_kernel_param_[4] = sny;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  surface_kernel_param_[5] = snz;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  surface_kernel_param_[6] = w;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;}</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a09a2d626e38c6f10bcd40720e521459f">  153</a></span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html#a09a2d626e38c6f10bcd40720e521459f">pcl::CrfSegmentation&lt;PointT&gt;::createVoxelGrid</a> ()</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;{</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="comment">// Filter the input cloud</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="comment">// Set the voxel grid input cloud</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  voxel_grid_.setInputCloud (input_cloud_);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="comment">// Set the voxel grid leaf size</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  voxel_grid_.setLeafSize (voxel_grid_leaf_size_.x (), voxel_grid_leaf_size_.y (), voxel_grid_leaf_size_.z () );</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="comment">// Only downsample XYZ (if this is set to false, color values set to 0)</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  voxel_grid_.setDownsampleAllData (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="comment">// Save leaf information</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="comment">//voxel_grid_.setSaveLeafLayout (true);</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="comment">// apply the filter</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  voxel_grid_.filter (*filtered_cloud_);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="comment">// Filter the annotated cloud</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="keywordflow">if</span> (anno_cloud_-&gt;points.size () &gt; 0)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  {</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <a class="code" href="classpcl_1_1_voxel_grid_label.html">pcl::VoxelGridLabel</a> vg;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    vg.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (anno_cloud_);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="comment">// Set the voxel grid leaf size</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    vg.<a class="code" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (voxel_grid_leaf_size_.x (), voxel_grid_leaf_size_.y (), voxel_grid_leaf_size_.z () );</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="comment">// Only downsample XYZ</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    vg.<a class="code" href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">setDownsampleAllData</a> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="comment">// Save leaf information</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="comment">//vg.setSaveLeafLayout (false);</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="comment">// apply the filter</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    vg.<a class="code" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (*filtered_anno_);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="comment">// Filter the annotated cloud</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordflow">if</span> (normal_cloud_-&gt;points.size () &gt; 0)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <a class="code" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt;pcl::PointNormal&gt;</a> vg;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    vg.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (normal_cloud_);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="comment">// Set the voxel grid leaf size</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    vg.<a class="code" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (voxel_grid_leaf_size_.x (), voxel_grid_leaf_size_.y (), voxel_grid_leaf_size_.z () );</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="comment">// Only downsample XYZ</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    vg.<a class="code" href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">setDownsampleAllData</a> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="comment">// Save leaf information</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="comment">//vg.setSaveLeafLayout (false);</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="comment">// apply the filter</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    vg.<a class="code" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (*filtered_normal_);    </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;}</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a0f85ff5addb9fc4edea2850a112eb515">  202</a></span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html#a0f85ff5addb9fc4edea2850a112eb515">pcl::CrfSegmentation&lt;PointT&gt;::createDataVectorFromVoxelGrid</a> ()</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;{</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="comment">// get the dimension of the voxel grid</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="comment">//Eigen::Vector3i min_b, max_b;</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="comment">//min_b = voxel_grid_.getMinBoxCoordinates ();</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="comment">//max_b = voxel_grid_.getMaxBoxCoordinates ();</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;min_b: &quot; &lt;&lt; min_b.x () &lt;&lt; &quot; &quot; &lt;&lt; min_b.y () &lt;&lt; &quot; &quot; &lt;&lt; min_b.z () &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;max_b: &quot; &lt;&lt; max_b.x () &lt;&lt; &quot; &quot; &lt;&lt; max_b.y () &lt;&lt; &quot; &quot; &lt;&lt; max_b.z () &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="comment">// compute the voxel grid dimensions</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="comment">//dim_.x () = abs (max_b.x () - min_b.x ());</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="comment">//dim_.y () = abs (max_b.y () - min_b.y ());</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="comment">//dim_.z () = abs (max_b.z () - min_b.z ());</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="comment">//std::cout &lt;&lt; dim_.x () * dim_.y () * dim_.z () &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="comment">// reserve the space for the data vector</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="comment">//data_.reserve (dim_.x () * dim_.y () * dim_.z ());</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="comment">  std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt; data;</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="comment">  std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt; color;</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="comment">  // fill the data vector</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="comment">  for (int kk = min_b.z (), k = 0; kk &lt;= max_b.z (); kk++, k++)</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="comment">    for (int jj = min_b.y (), j = 0; jj &lt;= max_b.y (); jj++, j++)</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="comment">      for (int ii = min_b.x (), i = 0; ii &lt;= max_b.x (); ii++, i++)</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="comment">      {</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="comment">        Eigen::Vector3i ijk (ii, jj, kk);</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="comment">        int index = voxel_grid_.getCentroidIndexAt (ijk);</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="comment">        if (index != -1)</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="comment">        {</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="comment">          data_.push_back (Eigen::Vector3i (i, j, k));</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="comment">          color_.push_back (input_cloud_-&gt;points[index].getRGBVector3i ());</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="comment">        }</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="comment">      }</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="comment">  // get the size of the input fields</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="comment">  std::vector&lt; pcl::PCLPointField &gt; fields;</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="comment">  pcl::getFields (*input_cloud_, fields);</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="comment">  </span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="comment">  for (int i = 0; i &lt; fields.size (); i++)</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="comment">    std::cout &lt;&lt; fields[i] &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="comment">// reserve space for the data vector</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  data_.resize (filtered_cloud_-&gt;points.size ());</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  std::vector&lt; pcl::PCLPointField &gt; fields;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="comment">// check if we have color data</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="keywordtype">bool</span> color_data = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="keywordtype">int</span> rgba_index = -1;  </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*input_cloud_, <span class="stringliteral">&quot;rgb&quot;</span>, fields);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="keywordflow">if</span> (rgba_index == -1)</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*input_cloud_, <span class="stringliteral">&quot;rgba&quot;</span>, fields);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    color_data = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    color_.resize (filtered_cloud_-&gt;points.size ());    </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="comment">  // check if we have normal data</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="comment">  bool normal_data = false;</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="comment">  int normal_index = -1;  </span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="comment">  rgba_index = pcl::getFieldIndex (*input_cloud_, &quot;normal_x&quot;, fields);</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="comment">  if (rgba_index &gt;= 0)</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="comment">    normal_data = true;</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="comment">    normal_.resize (filtered_cloud_-&gt;points.size ());    </span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="comment">// fill the data vector</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; filtered_cloud_-&gt;points.size (); i++)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    Eigen::Vector3f p (filtered_anno_-&gt;points[i].x,</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                       filtered_anno_-&gt;points[i].y,</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                       filtered_anno_-&gt;points[i].z);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    Eigen::Vector3i c = voxel_grid_.getGridCoordinates (p.x (), p.y (), p.y ());</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    data_[i] = c;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keywordflow">if</span> (color_data)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    {    </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      uint32_t rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span>(&amp;filtered_cloud_-&gt;points[i].rgba);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      uint8_t r = (rgb &gt;&gt; 16) &amp; 0x0000ff;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      uint8_t g = (rgb &gt;&gt; 8)  &amp; 0x0000ff;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      uint8_t b = (rgb)       &amp; 0x0000ff;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      color_[i] = Eigen::Vector3i (r, g, b);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    }</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="comment">    if (normal_data)</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="comment">      float n_x = filtered_cloud_-&gt;points[i].normal_x;</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="comment">      float n_y = filtered_cloud_-&gt;points[i].normal_y;</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="comment">      float n_z = filtered_cloud_-&gt;points[i].normal_z;</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;<span class="comment">      normal_[i] = Eigen::Vector3f (n_x, n_y, n_z);</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  }</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  normal_.resize (filtered_normal_-&gt;points.size ());</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; filtered_normal_-&gt;points.size (); i++)</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  {</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keywordtype">float</span> n_x = filtered_normal_-&gt;points[i].normal_x;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="keywordtype">float</span> n_y = filtered_normal_-&gt;points[i].normal_y;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keywordtype">float</span> n_z = filtered_normal_-&gt;points[i].normal_z;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    normal_[i] = Eigen::Vector3f (n_x, n_y, n_z);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  }</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;}</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html">pcl::CrfSegmentation&lt;PointT&gt;::createUnaryPotentials</a> (std::vector&lt;float&gt; &amp;unary,</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;                                                     std::vector&lt;int&gt; &amp;labels,</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;                                                     <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n_labels)</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;{</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <span class="comment">/* initialize random seed: */</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  srand ( <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (time (NULL)) );</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="comment">//srand ( time (NULL) );</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  <span class="comment">// Certainty that the groundtruth is correct</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> GT_PROB = 0.9f;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> u_energy = -logf ( 1.0f / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (n_labels) );</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> n_energy = -logf ( (1.0f - GT_PROB) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(n_labels - 1) );</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> p_energy = -logf ( GT_PROB );</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; filtered_anno_-&gt;points.size (); k++)</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  {</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    <span class="keywordtype">int</span> label = filtered_anno_-&gt;points[k].label;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="keywordflow">if</span> (labels.size () == 0 &amp;&amp; label &gt; 0)</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      labels.push_back (label);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <span class="comment">// add color to the color vector if not added yet</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="keywordtype">int</span> c_idx;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keywordflow">for</span> (c_idx = 0; c_idx &lt; static_cast&lt;int&gt; (labels.size ()) ; c_idx++)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      <span class="keywordflow">if</span> (labels[c_idx] == label)</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      <span class="keywordflow">if</span> (c_idx == <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(labels.size () -1) &amp;&amp; label &gt; 0)</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      {</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        <span class="keywordflow">if</span> (labels.size () &lt; n_labels)</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;          labels.push_back (label);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          label = 0;</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      }</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    }</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;   <span class="comment">/* generate secret number: */</span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <span class="comment">//double iSecret = static_cast&lt;double&gt; (rand ())  / static_cast&lt;double&gt; (RAND_MAX);</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;   </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    <span class="comment">/* </span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;<span class="comment">    if (k &lt; 100)</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;<span class="comment">      std::cout &lt;&lt; iSecret &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;<span class="comment">    */</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;<span class="comment">    int gg = 5; //static_cast&lt;int&gt; (labels.size ());</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;<span class="comment">    if (iSecret &lt; 0.5)</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="comment">      int r = 0;</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="comment">      if (gg != 0)</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;<span class="comment">        r = rand () % (gg - 1 + 1) + 1;</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;<span class="comment">      else</span></div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;<span class="comment">        r = 0;</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;<span class="comment">      c_idx = r;      </span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    <span class="comment">// set the engeries for the labels</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    <span class="keywordtype">size_t</span> u_idx = k * n_labels;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    <span class="keywordflow">if</span> (label &gt; 0)</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    {</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; n_labels; i++)</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        unary[u_idx + i] = n_energy;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      unary[u_idx + c_idx] = p_energy;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      <span class="keywordflow">if</span> (label == 1)</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      {</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> PROB = 0.2f;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> n_energy2 = -logf ( (1.0f - PROB) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(n_labels - 1) );</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> p_energy2 = -logf ( PROB );</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; n_labels; i++)</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;          unary[u_idx + i] = n_energy2;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        unary[u_idx + c_idx] = p_energy2;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    }</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    {</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; n_labels; i++)</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        unary[u_idx + i] = u_energy;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    } </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;}</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00415"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a1386282c07bec32f93163e9cb390c49c">  415</a></span>&#160;<a class="code" href="classpcl_1_1_crf_segmentation.html#a1386282c07bec32f93163e9cb390c49c">pcl::CrfSegmentation&lt;PointT&gt;::segmentPoints</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBL&gt;</a> &amp;output)</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;{</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  <span class="comment">// create the voxel grid</span></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  createVoxelGrid ();</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;create Voxel Grid - DONE&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  <span class="comment">// create the data Vector</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  createDataVectorFromVoxelGrid ();</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;create Data Vector from Voxel Grid - DONE&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  <span class="comment">// number of labels</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> n_labels = 10;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  <span class="comment">// number of data points</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  <span class="keywordtype">int</span> N = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (data_.size ());</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;  <span class="comment">// create unary potentials</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;  std::vector&lt;int&gt; labels;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  std::vector&lt;float&gt; unary;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  <span class="keywordflow">if</span> (anno_cloud_-&gt;points.size () &gt; 0)</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;  {</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    unary.resize (N * n_labels);</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    createUnaryPotentials (unary, labels, n_labels);</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;labels size: &quot;</span> &lt;&lt; labels.size () &lt;&lt; std::endl;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; labels.size (); i++)</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    {</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;      std::cout &lt;&lt; labels[i] &lt;&lt; std::endl;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    }</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  }</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;create unary potentials - DONE&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;<span class="comment">  pcl::PointCloud&lt;pcl::PointXYZRGBL&gt; tmp_cloud_OLD;</span></div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;<span class="comment">  tmp_cloud_OLD = *filtered_anno_;</span></div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;<span class="comment">  // Setup the CRF model</span></div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;<span class="comment">    DenseCRF2D crfOLD(N, 1, n_labels);</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;<span class="comment">  float * unaryORI = new float[N*n_labels];</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;<span class="comment">  for (int i = 0; i &lt; N*n_labels; i++)</span></div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;<span class="comment">    unaryORI[i] = unary[i];</span></div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;<span class="comment">  crfOLD.setUnaryEnergy( unaryORI );</span></div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;<span class="comment">  float * pos = new float[N*3];</span></div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;<span class="comment">  for (int i = 0; i &lt; N; i++)</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;<span class="comment">    pos[i * 3] = data_[i].x ();</span></div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;<span class="comment">    pos[i * 3 +1] = data_[i].y ();</span></div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;<span class="comment">    pos[i * 3 +2] = data_[i].z ();</span></div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;<span class="comment">  }  </span></div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;<span class="comment">    crfOLD.addPairwiseGaussian( pos, 3, 3, 3, 2.0 );</span></div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;<span class="comment">  float * col = new float[N*3];</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;<span class="comment">  for (int i = 0; i &lt; N; i++)</span></div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;<span class="comment">    col[i * 3] = color_[i].x ();</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;<span class="comment">    col[i * 3 +1] = color_[i].y ();</span></div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;<span class="comment">    col[i * 3 +2] = color_[i].z ();</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;<span class="comment">  }  </span></div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;<span class="comment">    crfOLD.addPairwiseBilateral(pos, col,  20, 20, 20, 10, 10, 10, 1.3 );</span></div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;<span class="comment">    short * map = new short[N];</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;<span class="comment">    crfOLD.map(10, map);</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;<span class="comment">  for (size_t i = 0; i &lt; N; i++)</span></div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;<span class="comment">    tmp_cloud_OLD.points[i].label = map[i];</span></div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160; </div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  <span class="comment">//float * resultOLD = new float[N*n_labels];</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;  <span class="comment">//crfOLD.inference (10, resultOLD);</span></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  <span class="comment">//std::vector&lt;float&gt; baryOLD;</span></div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  <span class="comment">//crfOLD.getBarycentric (0, baryOLD);</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  <span class="comment">//std::vector&lt;float&gt; featuresOLD;</span></div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  <span class="comment">//crfOLD.getFeature (1, featuresOLD);</span></div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;<span class="comment">  for(int i = 0; i &lt; 25; i++)</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;<span class="comment">    std::cout &lt;&lt; baryOLD[i] &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160; </div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160; </div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;  <span class="comment">// create the output cloud</span></div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;  <span class="comment">//output = *filtered_anno_;</span></div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160; </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  <span class="comment">// ----------------------------------//</span></div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;  <span class="comment">// --------      -------------------//</span></div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160; </div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBL&gt;</a> tmp_cloud;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  tmp_cloud = *filtered_anno_;</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160; </div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  <span class="comment">// create dense CRF</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  <a class="code" href="classpcl_1_1_dense_crf.html">DenseCrf</a> crf (N, n_labels);</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  <span class="comment">// set the unary potentials</span></div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  crf.setUnaryEnergy (unary);</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160; </div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  <span class="comment">// set the data vector</span></div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;  crf.<a class="code" href="classpcl_1_1_dense_crf.html#a0441a06675da9348d73b948ee1558a97">setDataVector</a> (data_);</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160; </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  <span class="comment">// set the color vector</span></div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;  crf.<a class="code" href="classpcl_1_1_dense_crf.html#ae6b1eba9ec2d38bc8176c2de5647fd59">setColorVector</a> (color_);</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;create dense CRF - DONE&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160; </div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160; </div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;  <span class="comment">// add the smoothness kernel</span></div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;  crf.<a class="code" href="classpcl_1_1_dense_crf.html#a5bb93254b147b20fff03f849353a0679">addPairwiseGaussian</a> (smoothness_kernel_param_[0],</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;                           smoothness_kernel_param_[1],</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;                           smoothness_kernel_param_[2],</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;                           smoothness_kernel_param_[3]);</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;add smoothness kernel - DONE&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160; </div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  <span class="comment">// add the appearance kernel</span></div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  crf.<a class="code" href="classpcl_1_1_dense_crf.html#a7bd8a262e025dcc1ea406842d9669c35">addPairwiseBilateral</a> (appearance_kernel_param_[0],</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;                            appearance_kernel_param_[1],</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;                            appearance_kernel_param_[2],</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;                            appearance_kernel_param_[3],</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;                            appearance_kernel_param_[4],</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;                            appearance_kernel_param_[5],</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;                            appearance_kernel_param_[6]);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;add appearance kernel - DONE&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160; </div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;  crf.addPairwiseNormals (data_, normal_,</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;                          surface_kernel_param_[0],</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;                          surface_kernel_param_[1],</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;                          surface_kernel_param_[2],</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;                          surface_kernel_param_[3],</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;                          surface_kernel_param_[4],</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;                          surface_kernel_param_[5],</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;                          surface_kernel_param_[6]);</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;add surface kernel - DONE&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160; </div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  <span class="comment">// map inference</span></div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  std::vector&lt;int&gt; r (N);</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  crf.mapInference (n_iterations_, r);</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  <span class="comment">//std::vector&lt;float&gt; result (N*n_labels);</span></div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="comment">//crf.inference (n_iterations_, result);</span></div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160; </div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;  <span class="comment">//std::vector&lt;float&gt; bary;</span></div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  <span class="comment">//crf.getBarycentric (0, bary);</span></div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  <span class="comment">//std::vector&lt;float&gt; features;</span></div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  <span class="comment">//crf.getFeatures (1, features);</span></div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160; </div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;Map inference - DONE&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160; </div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;  <span class="comment">// create the output cloud</span></div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;  output = *filtered_anno_;</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160; </div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;  {</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].label = labels[r[i]];</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  }</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160; </div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;<span class="comment">  bool c = true;</span></div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;<span class="comment">  for (size_t i = 0; i &lt; tmp_cloud.points.size (); i++)</span></div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;<span class="comment">    if (tmp_cloud.points[i].label != tmp_cloud_OLD.points[i].label)</span></div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;<span class="comment">      </span></div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;<span class="comment">      std::cout &lt;&lt; &quot;idx: &quot; &lt;&lt; i &lt;&lt; &quot; =  &quot; &lt;&lt;tmp_cloud.points[i].label &lt;&lt; &quot; |  &quot; &lt;&lt; tmp_cloud_OLD.points[i].label &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;<span class="comment">      c = false;</span></div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;<span class="comment">      break;</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;<span class="comment">  </span></div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;<span class="comment">  if (c)</span></div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;<span class="comment">    std::cout &lt;&lt; &quot;DEBUG - OUTPUT - OK&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;<span class="comment">  else</span></div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;<span class="comment">    std::cout &lt;&lt; &quot;DEBUG - OUTPUT - ERROR&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160; </div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160; </div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160; </div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;<span class="comment">  for (size_t i = 0; i &lt; 25; i++)</span></div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;<span class="comment">    std::cout &lt;&lt; result[i] &lt;&lt; &quot; |  &quot; &lt;&lt; resultOLD[i] &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;<span class="comment">  </span></div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;<span class="comment">  c = true;</span></div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;<span class="comment">  for (size_t i = 0; i &lt; result.size (); i++)</span></div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;<span class="comment">    if (result[i] != resultOLD[i])</span></div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;<span class="comment">      std::cout &lt;&lt; result[i] &lt;&lt; &quot; |  &quot; &lt;&lt; resultOLD[i] &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;<span class="comment">      </span></div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;<span class="comment">      c = false;</span></div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;<span class="comment">      break;</span></div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;<span class="comment">  </span></div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;<span class="comment">  if (c)</span></div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;<span class="comment">    std::cout &lt;&lt; &quot;DEBUG - OUTPUT - OK&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;<span class="comment">  else</span></div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;<span class="comment">    std::cout &lt;&lt; &quot;DEBUG - OUTPUT - ERROR&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160; </div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160; </div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;}</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160; </div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_CrfSegmentation(T) template class pcl::CrfSegmentation&lt;T&gt;;</span></div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160; </div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_CRF_SEGMENTATION_HPP_</span></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html">pcl::CrfSegmentation</a></div><div class="ttdef"><b>Definition:</b> crf_segmentation.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a09a2d626e38c6f10bcd40720e521459f"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a09a2d626e38c6f10bcd40720e521459f">pcl::CrfSegmentation::createVoxelGrid</a></div><div class="ttdeci">void createVoxelGrid()</div><div class="ttdoc">Create a voxel grid to discretize the scene</div><div class="ttdef"><b>Definition:</b> crf_segmentation.hpp:153</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a0a3f422c52af3f6ac473b02ddde8c433"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a0a3f422c52af3f6ac473b02ddde8c433">pcl::CrfSegmentation::setAppearanceKernelParameters</a></div><div class="ttdeci">void setAppearanceKernelParameters(float sx, float sy, float sz, float sr, float sg, float sb, float w)</div><div class="ttdoc">Set the appearanche kernel parameters.</div><div class="ttdef"><b>Definition:</b> crf_segmentation.hpp:122</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a0f85ff5addb9fc4edea2850a112eb515"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a0f85ff5addb9fc4edea2850a112eb515">pcl::CrfSegmentation::createDataVectorFromVoxelGrid</a></div><div class="ttdeci">void createDataVectorFromVoxelGrid()</div><div class="ttdoc">Get the data from the voxel grid and convert it into a vector</div><div class="ttdef"><b>Definition:</b> crf_segmentation.hpp:202</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a1386282c07bec32f93163e9cb390c49c"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a1386282c07bec32f93163e9cb390c49c">pcl::CrfSegmentation::segmentPoints</a></div><div class="ttdeci">void segmentPoints(pcl::PointCloud&lt; pcl::PointXYZRGBL &gt; &amp;output)</div><div class="ttdoc">This method simply launches the segmentation algorithm</div><div class="ttdef"><b>Definition:</b> crf_segmentation.hpp:415</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a19fc8b979cd5bd7e8a80054329b63f56"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a19fc8b979cd5bd7e8a80054329b63f56">pcl::CrfSegmentation::setVoxelGridLeafSize</a></div><div class="ttdeci">void setVoxelGridLeafSize(const float x, const float y, const float z)</div><div class="ttdoc">Set the leaf size for the voxel grid.</div><div class="ttdef"><b>Definition:</b> crf_segmentation.hpp:102</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a2034500b09110432396c7eb30acaca7e"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a2034500b09110432396c7eb30acaca7e">pcl::CrfSegmentation::~CrfSegmentation</a></div><div class="ttdeci">~CrfSegmentation()</div><div class="ttdoc">This destructor destroys the cloud...</div><div class="ttdef"><b>Definition:</b> crf_segmentation.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a638a8fc586d7375d4ac519387e31a956"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a638a8fc586d7375d4ac519387e31a956">pcl::CrfSegmentation::setSmoothnessKernelParameters</a></div><div class="ttdeci">void setSmoothnessKernelParameters(const float sx, const float sy, const float sz, const float w)</div><div class="ttdoc">Set the smoothness kernel parameters.</div><div class="ttdef"><b>Definition:</b> crf_segmentation.hpp:111</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_aa3c9393ae5fe07c5e8e711417b7e4743"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#aa3c9393ae5fe07c5e8e711417b7e4743">pcl::CrfSegmentation::CrfSegmentation</a></div><div class="ttdeci">CrfSegmentation()</div><div class="ttdoc">Constructor that sets default values for member variables.</div><div class="ttdef"><b>Definition:</b> crf_segmentation.hpp:53</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_ae38ac15bbb1fd068f489ca2f1abbb546"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#ae38ac15bbb1fd068f489ca2f1abbb546">pcl::CrfSegmentation::setInputCloud</a></div><div class="ttdeci">void setInputCloud(typename pcl::PointCloud&lt; PointT &gt;::Ptr input_cloud)</div><div class="ttdoc">This method sets the input cloud.</div><div class="ttdef"><b>Definition:</b> crf_segmentation.hpp:72</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html"><div class="ttname"><a href="classpcl_1_1_dense_crf.html">pcl::DenseCrf</a></div><div class="ttdef"><b>Definition:</b> densecrf.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a0441a06675da9348d73b948ee1558a97"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a0441a06675da9348d73b948ee1558a97">pcl::DenseCrf::setDataVector</a></div><div class="ttdeci">void setDataVector(const std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; data)</div><div class="ttdoc">set the input data vector. The input data vector holds the measurements coordinates as ijk of the vox...</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a5bb93254b147b20fff03f849353a0679"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a5bb93254b147b20fff03f849353a0679">pcl::DenseCrf::addPairwiseGaussian</a></div><div class="ttdeci">void addPairwiseGaussian(float sx, float sy, float sz, float w)</div><div class="ttdoc">Add a pairwise gaussian kernel</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a7bd8a262e025dcc1ea406842d9669c35"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a7bd8a262e025dcc1ea406842d9669c35">pcl::DenseCrf::addPairwiseBilateral</a></div><div class="ttdeci">void addPairwiseBilateral(float sx, float sy, float sz, float sr, float sg, float sb, float w)</div><div class="ttdoc">Add a bilateral gaussian kernel</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_ae6b1eba9ec2d38bc8176c2de5647fd59"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#ae6b1eba9ec2d38bc8176c2de5647fd59">pcl::DenseCrf::setColorVector</a></div><div class="ttdeci">void setColorVector(const std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; color)</div><div class="ttdoc">The associated color of the data</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a17115897ca28f6b12950d023958aa641"><div class="ttname"><a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">pcl::Filter::filter</a></div><div class="ttdeci">void filter(PointCloud &amp;output)</div><div class="ttdoc">Calls the filtering method and returns the filtered dataset in output.</div><div class="ttdef"><b>Definition:</b> filter.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a></div><div class="ttdoc">VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a1694d46442c66f7071235a8571dd602a"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">pcl::VoxelGrid::setDownsampleAllData</a></div><div class="ttdeci">void setDownsampleAllData(bool downsample)</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:257</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa5d7831e665977bdce76ed05bd0005cf"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">pcl::VoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector4f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_label_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid_label.html">pcl::VoxelGridLabel</a></div><div class="ttdef"><b>Definition:</b> voxel_grid_label.h:52</div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_point_normal_html"><div class="ttname"><a href="structpcl_1_1_point_normal.html">pcl::PointNormal</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:859</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_l_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_l.html">pcl::PointXYZRGBL</a></div><div class="ttdef"><b>Definition:</b> point_types.hpp:638</div></div>
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